plan_representation.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_PLAN_EXECUTION_PLAN_REPRESENTATION_
00038 #define MOVEIT_PLAN_EXECUTION_PLAN_REPRESENTATION_
00039 
00040 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
00041 #include <moveit/robot_trajectory/robot_trajectory.h>
00042 #include <moveit_msgs/MoveItErrorCodes.h>
00043 #include <boost/function.hpp>
00044 
00045 namespace plan_execution
00046 {
00047 struct ExecutableMotionPlan;
00048 
00050 struct ExecutableTrajectory
00051 {
00052   ExecutableTrajectory() : trajectory_monitoring_(true)
00053   {
00054   }
00055 
00056   ExecutableTrajectory(const robot_trajectory::RobotTrajectoryPtr& trajectory, const std::string& description)
00057     : trajectory_(trajectory), description_(description), trajectory_monitoring_(true)
00058   {
00059   }
00060 
00061   robot_trajectory::RobotTrajectoryPtr trajectory_;
00062   std::string description_;
00063   bool trajectory_monitoring_;
00064   collision_detection::AllowedCollisionMatrixConstPtr allowed_collision_matrix_;
00065   boost::function<bool(const ExecutableMotionPlan*)> effect_on_success_;
00066 };
00067 
00069 struct ExecutableMotionPlan
00070 {
00071   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
00072   planning_scene::PlanningSceneConstPtr planning_scene_;
00073 
00074   std::vector<ExecutableTrajectory> plan_components_;
00075 
00076   // The trace of the trajectory recorded during execution
00077   robot_trajectory::RobotTrajectoryPtr executed_trajectory_;
00078 
00080   moveit_msgs::MoveItErrorCodes error_code_;
00081 };
00082 
00084 typedef boost::function<bool(ExecutableMotionPlan& plan)> ExecutableMotionPlanComputationFn;
00085 }
00086 #endif


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Apr 23 2018 10:25:14